CN212781243U

CN212781243U - Intelligent high-precision positioning system of excavator based on satellite navigation

Info

Publication number: CN212781243U
Application number: CN202021139665.8U
Authority: CN
Inventors: 杜素忠; 张录彬; 张宇鹏; 周碧辉; 魏志高; 易国鹏
Original assignee: WANBAO MINING Ltd
Current assignee: WANBAO MINING Ltd
Priority date: 2020-06-18
Filing date: 2020-06-18
Publication date: 2021-03-23
Anticipated expiration: 2030-06-18

Abstract

The utility model relates to an intelligent high accuracy positioning system of excavator based on satellite navigation belongs to the navigation field. The utility model is characterized in that a GNSS receiver (2), a GNSS receiving antenna (3), an inclination angle sensor (4) and an on-board computer (5) are arranged on an excavator (1); the GNSS receiving antenna (3) is connected with the GNSS receiver (2), and the GNSS receiver (2) is used for analyzing and acquiring a high-precision positioning signal of the antenna (3) by combining the differential signal and the satellite ephemeris data; the tilt angle sensor (4) is arranged in a large arm, a small arm, a bucket and a cab of the excavator (1) and is used for analyzing and judging the working posture of the excavator; and the vehicle-mounted computer (5) is connected with the inclination sensor (4) and the GNSS receiver (2) and is used for analyzing the working attitude of the excavator and converting coordinates. The excavator can be automatically and intelligently quickly positioned and the positioning precision is improved through the cooperation of the sensors, the GNSS receivers, the GNSS receiving antennas and the vehicle-mounted computer which are distributed at all positions of the excavator.

Description

Intelligent high-precision positioning system of excavator based on satellite navigation

Technical Field

The utility model belongs to the satellite technology synthesizes application field, concretely relates to intelligent high accuracy positioning system of excavator based on satellite navigation.

Background

High-precision positioning, navigation and time service based on a Global Navigation Satellite System (GNSS) is widely applied to various industries of national economy such as agriculture, traffic, energy, electric power and the like. Wherein the coordinate system is the basis of the positioning description:

a space rectangular coordinate system: the coordinate origin is located at the center of the reference ellipsoid, the Z axis points to the north pole of the reference ellipsoid, the X axis points to the intersection point of the initial meridian plane and the equator, the Y axis is located on the equator plane and forms a 90-degree included angle with the X axis according to a right-hand system, and the coordinate of a certain point can be represented by the projection of the point on each coordinate axis of the coordinate system.

Geodetic coordinate system: the geodetic latitude, longitude and absolute elevation are used to describe the spatial location. The latitude is the included angle between the spatial point and the normal of the reference ellipsoid and the equatorial plane; the longitude is an included angle between a surface where the spatial point and the rotation axis of the reference ellipsoid are located and the initial meridian plane of the reference ellipsoid; absolute elevation is the distance of a point in space from the reference ellipsoid along the normal direction of the reference ellipsoid.

Gaussian plane rectangular coordinate system: for convenient work, the measuring area needs to be projected on a plane, so that the measurement calculation and the drawing are more convenient. When the measuring area range is large and the precision requirement is high, the plane coordinate system cannot ignore the influence of the curvature of the earth. Points on the earth are converted to a plane, called a map projection. The general application of China is Gaussian projection, namely dividing the earth into zones according to meridian lines, and calling the zones as projection zones; the projections are from the first meridian, in both the 6 ° band and the 3 ° band. A belt is divided into 6-degree belts every 6 degrees, and a belt is divided into 3-degree belts every 3 degrees. A rectangular plane coordinate system formed by gaussian projection with the projection of the central meridian as the ordinate axis, denoted by x, the projection of the equator as the abscissa axis, denoted by y, and the intersection of the two axes as the origin of coordinates is referred to as a rectangular gaussian plane coordinate system.

Independent coordinate system: and selecting a rectangular coordinate system of the origin and the coordinate axis according to local work requirements and coordinate description. Relative to the unified national coordinate system, the method is independent of a local plane or rectangular coordinate system outside the national coordinate system. Generally speaking, the X axis indicates north, the Y axis indicates east, and some reference value is selected locally for describing relative elevation. Independent coordinate systems, gaussian rectangular coordinate systems and other coordinate systems can be mutually converted.

The excavator is used as mechanical equipment and is widely applied to various fields of national economy. The excavator comprises power device, equipment, rotation mechanism, operating mechanism, drive mechanism, running gear and auxiliary facilities etc. wherein: the running mechanism comprises a chassis (bottom plate) based on tires or tracks, and the working device comprises a big arm, a small arm, a bucket, an auxiliary device and the like. The excavator walking mechanism and the working device are positioned at high precision, so that high-precision guiding, commanding and monitoring are realized, the excavator working efficiency can be improved, the working effect is optimized, and the working loss is reduced. For example, the damage to surrounding objects can be avoided in engineering construction, the precise operation can be realized in invisible areas such as underwater areas, cave areas and the like, the loss and depletion can be reduced in mine excavation, and the economic benefit is considerable.

Traditional location guidance, command and control mainly rely on manual mode to expand: during guiding, a measurer needs to perform lofting datum lines and piling in advance; during commanding and monitoring, the accuracy often cannot meet the requirement mainly depending on experience and attitude of field commanders and excavator operators. The automatic, intelligent and high-precision positioning of the excavator is realized, the method is the basis of guiding, monitoring and unmanned operation of the excavator, and the method has important significance for application in different industries.

In order to solve the problem of high-precision positioning in guidance and monitoring of excavators, research results partially based on GNSS positioning have appeared in recent years, such as:

1. in 'mining attitude monitoring system based on precise positioning of excavator GNSS' (gold science and technology, 2016, 24(4): 101-. However, most of excavator working state analysis is developed based on a Gaussian plane coordinate system or an independent coordinate system (such as a mine own coordinate system, an engineering own coordinate system and the like), the conversion difficulty is high depending on a three-dimensional coordinate system, large errors are easy to generate on the plane coordinate at a specific angle, and the high-precision requirement is difficult to meet on the assumption that part of angles are 0. In addition, the report only focuses on the system effect, and does not relate to the specific composition and structure of the system.

2. The Zhang Feng is in mining attitude monitoring system based on excavator GNSS accurate positioning (mechanical management development, 2018(8):88-90), combines mining attitude principle, GNSS positioning principle, double-antenna attitude principle and vision measurement system, mainly combines mining attitude, GNSS positioning and vision measurement technology, solves the excavator positioning problem, and relates to video monitoring and intelligent analysis. The vision measurement and analysis itself can generate errors, which affect the high-precision positioning intuitiveness and accuracy. Nor do they report on the specific composition and structure of the system.

Therefore, by comprehensively operating the GNSS, the high-precision instrument and the modern information technology, the system for intelligently and precisely positioning the excavator walking mechanism and the working device is invented, and the system plays an important role in guiding, commanding, monitoring, unmanned or less-man operation and the like of the excavator. The existing various devices, methods and research results can not meet the use requirements.

Disclosure of Invention

Technical problem to be solved

The to-be-solved technical problem of the utility model is how to provide an intelligent high accuracy positioning system of excavator based on satellite navigation to overcome the problem that prior art can't realize that the excavator is automatic, intelligent high accuracy fixes a position.

(II) technical scheme

In order to solve the technical problem, the utility model provides an excavator intelligent high accuracy positioning system based on satellite navigation, the system includes excavator (1), high accuracy GNSS receiver (2), two GNSS receiving antenna (3), inclination sensor (4) and on-vehicle computer (5), high accuracy GNSS receiver (2), GNSS receiving antenna (3), inclination sensor (4) and on-vehicle computer (5) are installed on excavator (1); the vehicle-mounted computer (5) is arranged in a cab of the excavator (1), is connected with the inclination angle sensor (4) and the high-precision GNSS receiver (2), and is provided with a positioning calculation software module for analyzing the working posture of the excavator and converting coordinates; the GNSS receiving antenna (3) is mounted at the tail of the excavator (1) and connected with the high-precision GNSS receiver (2), a connecting straight line between the GNSS receiving antennas (3) is vertical to the direction of a cab of the excavator (1), and the high-precision GNSS receiver (2) is used for acquiring and analyzing a high-precision positioning signal of the GNSS receiving antenna (3) by combining a real-time differential signal and satellite ephemeris data; the tilt angle sensors (4) are arranged on the large arm, the small arm and the bucket of the excavator (1) and in the cab and used for analyzing and judging the posture of the excavator.

Further, the system also comprises a power supply unit for supplying power to the high-precision GNSS receiver (2), the tilt sensor (4) and the on-board computer (5).

Further, the system further comprises a high-precision GNSS reference station for providing real-time differential data to the high-precision GNSS receiver (2).

Further, the high-precision GNSS reference station is a local reference station built by itself, or a public reference station provided by a government or telecom operator.

Further, the system also comprises a communication network unit for transmitting information received, processed and stored by the vehicle computer (5) to a remote hardware and/or software system via a wired or wireless network.

Further, the tilt angle sensor (4) is installed on the pitch and roll directions of the cab of the excavator (1) and the boom, arm and bucket, and is used for determining the real-time working postures of the cab, the boom, the arm and the bucket along with the movement of the cab, the boom, the arm and the bucket.

Further, the working postures comprise cab pitching conditions, cab rolling conditions, the vertical height and horizontal length of a connecting point of a large arm and a platform of the excavator (1), the vertical height and horizontal length of a connecting point of a large arm and a small arm, the vertical height and horizontal length of a connecting point of a small arm and a bucket, and the vertical height and horizontal length of a head of the bucket.

Further, the tilt angle sensors (4) installed at the boom, the arm and the bucket are single-axis tilt angle sensors for detecting the lifting or lowering angles of the boom, the arm and the bucket.

Further, the tilt angle sensor (4) installed in the cab of the excavator (1) is 2 single-shaft tilt angle sensors or 1 double-shaft tilt angle sensor and is used for detecting the pitch and roll angles of the cab.

Further, the system also comprises a CPE network communication unit, and the CPE network communication unit is used for connecting the system to the mine local area network through a wireless network.

(III) advantageous effects

The utility model provides an excavator intelligent high-precision positioning system based on satellite navigation, wherein a high-precision GNSS receiver 2, a GNSS receiving antenna 3, an inclination angle sensor 4 and an on-board computer 5 are arranged on an excavator 1; the GNSS receiving antenna 3 is arranged at the tail of the excavator 1 and connected with the high-precision GNSS receiver 2, a connecting straight line between the GNSS receiving antennas 3 is vertical to the direction of a cab of the excavator 1, and the high-precision GNSS receiver 2 is used for analyzing and acquiring a high-precision positioning signal of the GNSS receiving antenna 3 by combining a real-time differential signal and satellite ephemeris data; the tilt angle sensor 4 is arranged in a large arm, a small arm, a bucket and a cab of the excavator 1 and is used for analyzing and judging the working posture of the excavator; and the vehicle-mounted computer 5 is connected with the tilt sensor 4 and the high-precision GNSS receiver 2 and is used for analyzing the working posture of the excavator and converting coordinates. Therefore, the excavator can be quickly positioned, the positioning precision is improved, the actual working requirement is met through the cooperation of the sensors, the GNSS receivers, the GNSS receiving antennas and the vehicle-mounted computer which are distributed at all positions of the excavator, and basic technical support can be provided for high-precision guiding, commanding, monitoring, less-manual or unmanned operation of the excavator. The system has the advantages of clear composition equipment, clear operation principle, good realization effect and stable system structure, and is suitable for excavator operation in different scenes and different types; if the influences of the calibrated static size, the equipment installation deviation, the self-error of the equipment and the like are eliminated, the real-time positioning precision of the excavator walking mechanism and the working device can be controlled to a centimeter level; the positioning precision resolving speed can be controlled to millisecond level, and if a communication network unit is configured, data sharing and utilization can be realized with other systems.

Drawings

Fig. 1 is a schematic diagram of the connection relationship of the devices of the present invention.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following description will make a detailed description of embodiments of the present invention with reference to the accompanying drawings and examples.

The utility model provides an intelligent high accuracy positioning system of excavator based on satellite navigation, include wherein (attached 1): the system comprises a 1-excavator, a 2-high-precision GNSS receiver, a 3-GNSS receiving antenna, a 4-inclination sensor and a 5-vehicle-mounted computer. The high-precision GNSS receiver, the GNSS receiving antenna, the inclination angle sensor and the vehicle-mounted computer are all arranged on the excavator; the vehicle-mounted computer is arranged in a cab of the excavator, is connected with the tilt angle sensor and the high-precision receiver, and is provided with a special positioning calculation software module; the GNSS receiving antenna is arranged at the tail of the excavator and connected with the high-precision GNSS receiver, and the straight line connection between the GNSS receiving antennas is basically vertical to the direction of the cab of the excavator; the tilt angle sensor is arranged in a large arm, a small arm, a bucket and a cab of the excavator working device and used for analyzing and judging the working posture of the excavator.

Wherein, still include: and the equipment power supply unit is used for supplying power to the high-precision GNSS receiver, the inclination angle sensor and the vehicle-mounted computer.

Wherein, can also include: and the high-precision GNSS reference station is used for providing real-time differential data for the high-precision GNSS receiver. The high-precision GNSS reference station can be a self-built local reference station, and also can be a public reference station provided by non-profit organizations such as governments and the like or telecom operators; the differential signal required by the high-precision GNSS receiver can be from a high-precision GNSS reference station, and can also be obtained by other methods.

Wherein, can also include: and the communication network unit transmits the information received, processed and stored by the local vehicle-mounted computer of the excavator to a remote hardware and/or software system through a wired or wireless network.

The excavator is the main carrier of the system, the walking mechanism can be a crawler, a tire or other chassis, the working device comprises a cab, an auxiliary platform, a big arm, a small arm and a bucket, and the working device can be a front shovel or a backhoe working mode.

Wherein the high-precision GNSS receiver and the receiving antenna are mounted on the excavator and are connected to each other. The high-precision GNSS receiver is combined with the real-time differential signal and the satellite ephemeris data to realize the acquisition and analysis of the high-precision positioning signal of the GNSS receiving antenna; positioning the excavator by taking 1 GNSS receiving antenna as a reference; and determining the orientation of the excavator through the vector relation among 2 or more GNSS receiving antennas. The differential signal required by the high-precision GNSS receiver can be from a high-precision GNSS reference station or can be obtained by other methods, so that the positioning precision of the GNSS receiving antenna is further improved.

Wherein, inclination sensor installs on pitching (front and back) and roll (left and right) direction of excavator driver's cabin to and work device big arm, forearm and scraper bowl, moves along with driver's cabin, big arm, forearm and scraper bowl together, is used for judging the real-time work gesture of driver's cabin, big arm, forearm and scraper bowl, specifically includes: cab pitch conditions, cab roll conditions, vertical height and horizontal length of the boom to excavator platform attachment point, vertical height and horizontal length of the boom to forearm attachment point, vertical height and horizontal length of the forearm to bucket attachment point, and vertical height and horizontal length of the bucket head (teeth).

The inclination angle sensors of the large arm, the small arm and the bucket are single-shaft inclination angle sensors and are used for detecting the lifting or descending angles of the large arm, the small arm and the bucket; the cab may use 2 single-axis tilt sensors or 1 two-axis tilt sensor for detecting the pitch (front-back) angle and roll (left-right) angle of the cab.

The vehicle-mounted computer is installed inside a cab of the excavator and connected with the inclination angle sensor and the high-precision GNSS receiver. Meanwhile, a positioning calculation software module is installed in the vehicle-mounted computer and comprises the functions of excavator working attitude analysis and high-precision positioning calculation of coordinate conversion.

In a certain overseas open-air metal mine, an excavator is adopted for excavation, and the annual excavation weight exceeds 1 hundred million tons. By positioning the height of the bottom plate of the excavator (equivalent to the height of the crawler), the 'underexcavation' condition in the excavation process can be judged; by high-precision positioning of the bucket teeth, the matching degree of an excavation operation plan and an operation actual performance can be ensured, and the loss and dilution of mines are reduced; through high-precision positioning of all points of the excavator, the guiding efficiency can be improved, operation monitoring is enhanced, and invalid operation is reduced.

The mine is a small-loose PC2000 back-shovel excavator, and is provided with the following hardware equipment:

before the system is not used, the 'undermining' quantity of each platform of the mining area of the mine is usually more than 0.5 meter, and after the system is used, the 'undermining' quantity can be controlled within about 0.15 meter; before the system is used, the allowable positioning error of the bucket tooth is about +/-3 meters, and after the system is used, the horizontal positioning accuracy and the elevation positioning error of the bucket tooth can be controlled within 0.1 meter and 0.2 meter respectively; the positioning resolving time is millisecond; the working efficiency of the excavator is improved by more than 15%, the ore loss and dilution are greatly reduced, and the economic benefit is considerable. Meanwhile, through the CPE network communication unit, the system can realize wireless network communication with the mine local area network, and positioning data can be shared with other systems.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.

Claims

1. The intelligent high-precision positioning system for the excavator based on satellite navigation is characterized by comprising the excavator (1), a high-precision GNSS receiver (2), two GNSS receiving antennas (3), an inclination angle sensor (4) and an on-board computer (5), wherein the high-precision GNSS receiver (2), the GNSS receiving antennas (3), the inclination angle sensor (4) and the on-board computer (5) are installed on the excavator (1); the vehicle-mounted computer (5) is arranged in a cab of the excavator (1), is connected with the inclination angle sensor (4) and the high-precision GNSS receiver (2), and is provided with a positioning calculation software module for analyzing the working posture of the excavator and converting coordinates; the GNSS receiving antenna (3) is mounted at the tail of the excavator (1) and connected with the high-precision GNSS receiver (2), a connecting straight line between the GNSS receiving antennas (3) is vertical to the direction of a cab of the excavator (1), and the high-precision GNSS receiver (2) is used for analyzing and acquiring a high-precision positioning signal of the GNSS receiving antenna (3) by combining a real-time differential signal and satellite ephemeris data; the inclination angle sensor (4) is arranged in a large arm, a small arm, a bucket and a cab of the excavator (1) and used for analyzing and judging the working posture of the excavator.

2. The intelligent high-precision positioning system for excavators based on satellite navigation according to claim 1, characterized in that it further comprises a power supply unit for supplying power to the high-precision GNSS receiver (2), the tilt sensor (4) and the on-board computer (5).

3. The intelligent high-precision positioning system for excavators based on satellite navigation according to claim 1, characterized in that it further comprises a high-precision GNSS reference station for providing real-time differential data to the high-precision GNSS receiver (2).

4. The intelligent high-precision positioning system for excavators based on satellite navigation according to claim 3, characterized in that the high-precision GNSS reference station is a self-built local reference station or a common reference station provided by a telecom operator.

5. The intelligent high-precision positioning system for excavators based on satellite navigation according to claim 1, characterized in that it further comprises a communication network unit for transmitting the information received, processed and stored by the on-board computer (5) to a remote hardware and/or software system via a wired or wireless network.

6. The intelligent high-precision positioning system for the excavator based on the satellite navigation is characterized in that the tilt angle sensor (4) is installed in a cab of the excavator (1) and on a large arm, a small arm and a bucket, and is used for judging real-time working postures of the cab, the large arm, the small arm and the bucket along with the movement of the cab, the large arm, the small arm and the bucket.

7. The intelligent high-precision positioning system for excavator based on satellite navigation as claimed in claim 6, wherein the working attitude comprises cab pitch condition, cab roll condition, vertical height and horizontal length of big arm and platform connection point of the excavator (1), vertical height and horizontal length of big arm and small arm connection point, vertical height and horizontal length of small arm and bucket connection point, vertical height and horizontal length of bucket head.

8. The intelligent high-precision positioning system of an excavator based on satellite navigation as claimed in claim 6, wherein the tilt sensors (4) installed on the upper arm, the lower arm and the bucket are single-axis tilt sensors for detecting the lifting or lowering angles of the upper arm, the lower arm and the bucket.

9. The intelligent high-precision positioning system for the excavator based on the satellite navigation as claimed in claim 6, wherein the tilt sensor (4) installed in the cab of the excavator (1) is 2 single-shaft tilt sensors or 1 double-shaft tilt sensor for detecting the pitch angle and the roll angle of the cab.

10. The intelligent high-precision positioning system for satellite navigation-based excavators according to claim 1, characterized in that the system further comprises a CPE network communication unit for connecting the system to other network systems via a wireless network.